Borrowing a technique from inkjet printers, researchers at Princeton Engineering have rolled out a pixel-by-pixel method to program and manufacture soft structures for use in robotics, biomedical devices or architectural features.
source https://www.lifetechnology.com/blogs/life-technology-technology-news/easy-as-an-inkjet-a-new-soft-printing-technique-has-opened-the-way-for-pixelated-elastics